Terrain-Dependent Intra-Cycle Leg Timing for Effective Locomotion

This paper investigates the challenges of legged robot locomotion on granular slopes, such as sand dunes, by analyzing terrain-dependent forces and failure mechanisms. Using a hexapedal robot on a tiltable granular bed, the study measures locomotion speed and slope-dependent normal and shear resistive forces. The findings reveal that performance loss is mainly due to delayed anchoring and increased backward slip, leading to the development of a predictive model for safer and more robust robot operation on deformable inclines.